CN104567921A - Astronomical velocity measurement autonomic navigation system ground test method - Google Patents
Astronomical velocity measurement autonomic navigation system ground test method Download PDFInfo
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- CN104567921A CN104567921A CN201410608559.2A CN201410608559A CN104567921A CN 104567921 A CN104567921 A CN 104567921A CN 201410608559 A CN201410608559 A CN 201410608559A CN 104567921 A CN104567921 A CN 104567921A
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- speed
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- autonomous navigation
- velocity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The invention discloses an astronomical velocity measurement autonomic navigation system ground test method which comprises the following steps: observing a velocity measurement navigation source by virtue of a velocity measurement navigation sensor, outputting the spectral information, feeding the spectral information into a navigation computer, solving the velocity at a measurement site by virtue of a velocity measurement navigation algorithm, and evaluating the performance of the velocity measurement autonomic navigation system by virtue of a velocity measurement navigation performance evaluation system according to the difference of the solved velocity of the measurement site and the local theoretical velocity. By utilizing the ground test method of natural movements such as revolution and rotation of celestial bodies in the solar system, due to measurement of the measurement site in a period of time, the measurement result is compared with the theoretical value, and the performance of the astronomical velocity measurement autonomic navigation system can be effectively evaluated.
Description
Technical field
The present invention relates to a kind of ground experiment method of aeronautical field, in particular, relate to a kind of astronomy of celestial body relative motion that utilizes and to test the speed autonomous navigation system ground experiment method, can be used for astronomy and to test the speed the function of autonomous navigation system and Performance Evaluation.
Background technology
The air navigation aid of deep space probe mainly contains ground based radio navigation, celestial navigation, inertial navigation and integrated navigation etc.The astronomy independent navigation that tests the speed is the one of celestial navigation, and the method relies on the spectral information of navigation target and celestial body ephemeris information etc., to realize in spacecraft flight process continuously navigation that is autonomous, real-time high-precision.
The test the speed function of autonomous navigation system and performance need of astronomy is verified by ground experiment.Reach the every second-time of some kms with the radial velocity in navigation target source in deep space probe flight course, be difficult to carry out physical simulation by any laboratory equipment.
Summary of the invention
For the technical matters existed in above-mentioned prior art, the invention provides a kind of astronomy and to test the speed autonomous navigation system ground experiment method, utilize celestial body in solar system to revolve round the sun and the ground experiment method of the proper motions such as rotation.This method, by measuring the measurement in ground a period of time, by measurement result compared with theoretical value, can make effective evaluation to the test the speed performance of autonomous navigation system of astronomy.
For achieving the above object, the technical solution adopted in the present invention is as follows:
A kind of astronomy tests the speed autonomous navigation system ground experiment method, by testing the speed, navigation sensor is observed the navigation sources that tests the speed, output spectrum information, after spectral information sends into navigational computer, by testing the speed, navigation algorithm resolves the speed measuring place, test the speed the speed of navigation performance evaluating system according to the measurement place calculated and the difference of local theoretical velocity, and to testing the speed, autonomous navigation system performance makes assessment.
The navigation sensor that tests the speed obtains the high precision spectroscopic data of navigation sources by optical system, and by it compared with standard spectral data, extracts carrier deviation amount, then obtain the corresponding radial velocity according to Doppler's principle.
Observation obtains the radial velocity of relative three navigation sources of navigation sensor thus.According to geometric relationship, can synthesize and uniquely determine the velocity of navigation sensor in inertial space.This process is expressed by following formula:
Wherein v
pfor the velocity of navigation sensor motion; v
1, v
2, v
3for navigation sources celestial body each under inertial system points to the unit vector of navigation sensor position; v
r1, v
r2, v
r3for the radial velocity size recorded.V in formula
1, v
2, v
3and v
r1, v
r2, v
r3be known quantity, unique solution can obtain v by solving equation group
p.
The actual measurement velocity recorded in a period of time and base area soccer star are gone through and are resolved with earth rotation the theoretical velocity vector obtained and compare by the navigation evaluating system that tests the speed, and ask for the statistical property such as average, variance, carry out quantitative evaluation to both difference.
Described the navigation sources that tests the speed to be observed, specifically: at the specific Position Latitude of the earth, by testing the speed, the radial velocity of navigational system to the navigation sources that tests the speed is measured, single measurement can obtain the radial velocity measuring relative measurement source in inertial space, place, more than three or three navigation sources that test the speed are measured simultaneously, can obtain measuring the velocity of place in inertial space, described velocity comprises revolution of earth speed and geostrophic measurement line of site speed.
Describedly assessment is made to the autonomous navigation system performance that tests the speed comprise and estimating measuring the linear velocity in place, specifically: utilize revolution of earth radial velocity to superpose with measurement ground rotation wire speed the navigation sources spectral shift amount caused, the linear velocity measuring place is estimated.
Describedly assessment is made on the autonomous navigation system performance that tests the speed comprise the rate accuracy weighing the astronomical autonomous navigation system that tests the speed and affect situation by rotation wire speed, specifically: in 1 day not in the same time, the local linear velocity caused by earth rotation changes, by the local speed in same place continuous coverage 24 hours, can weigh the test the speed rate accuracy of autonomous navigation system of astronomy affects situation by rotation wire speed.
Described the autonomous navigation system performance that tests the speed is made that assessment comprises that the rate accuracy of weighing the astronomical autonomous navigation system that tests the speed revolved round the sun affect situation, specifically: in 1 year not in the same time, the radial velocity caused by revolution of earth changes, by the local speed in same place continuous coverage 1 year, can weigh the test the speed rate accuracy of autonomous navigation system of astronomy affects situation by revolution speed.
Describedly assessment is made on the autonomous navigation system performance that tests the speed comprise the rate accuracy of weighing the astronomical autonomous navigation system that tests the speed and affect situation by latitude or height above sea level, specifically: at different latitude or height above sea level place, mutually in the same time under the radial velocity that caused by earth rotation change, by in different latitude or the local speed in the elevational position continuous coverage several years, can weigh the test the speed rate accuracy of autonomous navigation system of astronomy affects situation by latitude or height above sea level.
Described local theoretical velocity is the high precision ephemeris obtained according to astronomical sight, obtains the rate theory value measuring place, by the theoretical value curve in a period of time compared with measured value curve, makes effective evaluation to the performance of the autonomous navigation system that tests the speed.
Method beneficial effect provided by the present invention is as follows:
The inventive method is novel, purposes is clear and definite, is the effective means for the astronomical autonomous navigation system performance test checking of testing the speed of survey of deep space.
The inventive method after the motion effects eliminating navigation sources itself, to velocity measurement with the measurement moment, measure place latitude, measure the correlative factors such as site elevation and assess.
The inventive method is included in not in the same time, same place is measured, can Efficient Evaluation astronomy test the speed autonomous navigation system rate accuracy by rotation, revolution affect situation.Or at different latitude or height above sea level place, measuring down in the same time mutually, effectively can weigh the test the speed rate accuracy of autonomous navigation system of astronomy affects situation by latitude or height above sea level.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the process flow diagram of the inventive method one embodiment.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 1, be that the astronomy of source relative motion that utilizes provided by the present invention tests the speed the process flow diagram of autonomous navigation system ground experiment method one embodiment, comprise step as follows:
(1), at measurement place A, utilize and test the speed navigational system to the navigation sources 1 (sun) that tests the speed, carry out 24 hours Continuous Observation, output spectrum information, after navigational computer process of testing the speed, export the radial velocity with the navigation sources 1 that tests the speed.By result compared with theoretical value, rate accuracy is evaluated.
(2) at measurement place A, the utilization navigational system that tests the speed carries out 24 hours Continuous Observation to the navigation sources 1 that tests the speed, the navigation sources 2 (being outer fixed star) that tests the speed, the navigation sources 3 (being outer fixed star) that tests the speed, output spectrum information, after navigational computer process of testing the speed, export and measure the velocity of place A in inertial space.By result compared with theoretical value, rate accuracy is evaluated.
(3) utilize the navigational system that tests the speed to carry out 24 hours Continuous Observation to the navigation sources 1 that tests the speed, the navigation sources 2 that tests the speed, the navigation sources 3 that tests the speed on measurement place A, B, C tri-ground (identical height above sea level) simultaneously, output spectrum information, after navigational computer process of testing the speed, export and measure the velocity of place A, B, C in inertial space.By result compared with theoretical value, rate accuracy is evaluated.
(4) at measurement place A, at 6:00 and the 18:00 of every day, utilize the navigational system that tests the speed to observe the navigation sources 1 that tests the speed, output spectrum information, after navigational computer process of testing the speed, export and measure the velocity of place A in inertial space.Continuous coverage the navigation Output rusults recorded in 365 days, compared with theoretical value, evaluate the long-term rate accuracy of system.
The above embodiment of the present invention; be not for limiting the present invention; any those skilled in the art without departing from the spirit and scope of the present invention; the content of above-mentioned announcement can be utilized to make possible variation and amendment to scheme proposed by the invention; therefore; everyly do not depart from technology contents of the present invention, any simple modification done above embodiment according to technical spirit of the present invention, equivalent variations and modification, all belong to protection scope of the present invention.
Claims (7)
1. an astronomy tests the speed autonomous navigation system ground experiment method, it is characterized in that, by testing the speed, navigation sensor is observed the navigation sources that tests the speed, output spectrum information, after spectral information sends into navigational computer, by testing the speed, navigation algorithm resolves the speed measuring place, and test the speed the speed of navigation performance evaluating system according to the measurement place calculated and the difference of local theoretical velocity, and to testing the speed, autonomous navigation system performance makes assessment.
2. astronomy according to claim 1 tests the speed autonomous navigation system ground experiment method, it is characterized in that, described the navigation sources that tests the speed to be observed, specifically: at the specific Position Latitude of the earth, by testing the speed, the radial velocity of navigational system to the navigation sources that tests the speed is measured, single measurement can obtain the radial velocity measuring relative measurement source in inertial space, place, more than three or three navigation sources that test the speed are measured simultaneously, can obtain measuring the velocity of place in inertial space, described velocity comprises revolution of earth speed and geostrophic measurement line of site speed.
3. astronomy according to claim 2 tests the speed autonomous navigation system ground experiment method, it is characterized in that, describedly assessment is made to the autonomous navigation system performance that tests the speed comprise and estimating measuring the linear velocity in place, specifically: utilize revolution of earth radial velocity to superpose with measurement ground rotation wire speed the navigation sources spectral shift amount caused, the linear velocity measuring place is estimated.
4. astronomy according to claim 2 tests the speed autonomous navigation system ground experiment method, it is characterized in that, describedly assessment is made on the autonomous navigation system performance that tests the speed comprise the rate accuracy weighing the astronomical autonomous navigation system that tests the speed and affect situation by rotation wire speed, specifically: in 1 day not in the same time, the local linear velocity caused by earth rotation changes, by the local speed in same place continuous coverage 24 hours, can weigh the test the speed rate accuracy of autonomous navigation system of astronomy affects situation by rotation wire speed.
5. astronomy according to claim 2 tests the speed autonomous navigation system ground experiment method, it is characterized in that, described the autonomous navigation system performance that tests the speed is made that assessment comprises that the rate accuracy of weighing the astronomical autonomous navigation system that tests the speed revolved round the sun affect situation, specifically: in 1 year not in the same time, the radial velocity caused by revolution of earth changes, by the local speed in same place continuous coverage 1 year, can weigh the test the speed rate accuracy of autonomous navigation system of astronomy affects situation by revolution speed.
6. astronomy according to claim 2 tests the speed autonomous navigation system ground experiment method, it is characterized in that, describedly assessment is made on the autonomous navigation system performance that tests the speed comprise the rate accuracy of weighing the astronomical autonomous navigation system that tests the speed and affect situation by latitude or height above sea level, specifically: at different latitude or height above sea level place, mutually in the same time under the radial velocity that caused by earth rotation change, by in different latitude or the local speed in the elevational position continuous coverage several years, can weigh the test the speed rate accuracy of autonomous navigation system of astronomy affects situation by latitude or height above sea level.
7. astronomy according to claim 2 tests the speed autonomous navigation system ground experiment method, it is characterized in that, described local theoretical velocity is the high precision ephemeris obtained according to astronomical sight, obtain the rate theory value measuring place, by the theoretical value curve in a period of time compared with measured value curve, effective evaluation is made to the performance of the autonomous navigation system that tests the speed.
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| CN106767842A (en) * | 2016-11-30 | 2017-05-31 | 上海卫星工程研究所 | The emission type target source method of selecting tested the speed with asymmetric space heterodyne formula as target |
| CN107883966A (en) * | 2017-09-25 | 2018-04-06 | 上海卫星工程研究所 | The deep space air navigation aid of asteroid reflectance spectrum |
| CN110617820A (en) * | 2019-09-29 | 2019-12-27 | 北京航空航天大学 | Autonomous astronomical navigation method based on solar circular surface speed difference |
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